disp_caltabT_disp_caltabDispCaltabDispCaltabdisp_caltab (算子名称)
名称
disp_caltabT_disp_caltabDispCaltabDispCaltabdisp_caltab — Project and visualize the 3D model of the calibration plate in the image.
参数签名
void DispCaltab(const HTuple& WindowHandle, const HTuple& CalPlateDescr, const HTuple& CameraParam, const HTuple& CalPlatePose, const HTuple& ScaleFac)
void HWindow::DispCaltab(const HString& CalPlateDescr, const HCamPar& CameraParam, const HPose& CalPlatePose, double ScaleFac) const
void HWindow::DispCaltab(const char* CalPlateDescr, const HCamPar& CameraParam, const HPose& CalPlatePose, double ScaleFac) const
void HWindow::DispCaltab(const wchar_t* CalPlateDescr, const HCamPar& CameraParam, const HPose& CalPlatePose, double ScaleFac) const
(
Windows only)
void HCamPar::DispCaltab(const HWindow& WindowHandle, const HString& CalPlateDescr, const HPose& CalPlatePose, double ScaleFac) const
void HCamPar::DispCaltab(const HWindow& WindowHandle, const char* CalPlateDescr, const HPose& CalPlatePose, double ScaleFac) const
void HCamPar::DispCaltab(const HWindow& WindowHandle, const wchar_t* CalPlateDescr, const HPose& CalPlatePose, double ScaleFac) const
(
Windows only)
static void HOperatorSet.DispCaltab(HTuple windowHandle, HTuple calPlateDescr, HTuple cameraParam, HTuple calPlatePose, HTuple scaleFac)
void HWindow.DispCaltab(string calPlateDescr, HCamPar cameraParam, HPose calPlatePose, double scaleFac)
void HCamPar.DispCaltab(HWindow windowHandle, string calPlateDescr, HPose calPlatePose, double scaleFac)
描述
disp_caltabdisp_caltabDispCaltabDispCaltabDispCaltabdisp_caltab is used to visualize the calibration marks and
the connecting lines between the marks of the used calibration plate
(CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr) in the window specified by
WindowHandleWindowHandleWindowHandleWindowHandlewindowHandlewindow_handle. Additionally, the x- and y-axes of the
plate's coordinate system are printed on the plate's surface. For
this, the 3D model of the calibration plate is projected into the
image plane using the internal (CameraParamCameraParamCameraParamCameraParamcameraParamcamera_param) and external
camera parameters (CalPlatePoseCalPlatePoseCalPlatePoseCalPlatePosecalPlatePosecal_plate_pose). Thereby the pose is in the form
, where
ccs denotes the camera coordinate system and
wcs the world coordinate system (see
Transformations / Poses
and “Solution Guide III-C - 3D Vision”), thus
the pose of the calibration plate in camera coordinates.
The underlying camera model is described in
Calibration.
Typically, disp_caltabdisp_caltabDispCaltabDispCaltabDispCaltabdisp_caltab is used to verify the result of the
camera calibration (see Calibration or
camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration) by superimposing it onto the original
image. The current line width can be set by set_line_widthset_line_widthSetLineWidthSetLineWidthSetLineWidthset_line_width,
the current color can be set by set_colorset_colorSetColorSetColorSetColorset_color. Additionally, the
font type of the labels of the coordinate axes can be set by
set_fontset_fontSetFontSetFontSetFontset_font.
The parameter ScaleFacScaleFacScaleFacScaleFacscaleFacscale_fac influences the number of supporting
points to approximate the elliptic contours of the calibration
marks. You should increase the number of supporting points, if the
image part in the output window is displayed with magnification (see
set_partset_partSetPartSetPartSetPartset_part).
运行信息
- 多线程类型:可重入(与非独占操作符并行运行)。
- 多线程作用域:全局(可以从任何线程调用)。
- 未经并行化处理。
参数表
WindowHandleWindowHandleWindowHandleWindowHandlewindowHandlewindow_handle (input_control) window → HWindow, HTupleHHandleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)
Window in which the calibration plate should be
visualized.
CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr (input_control) filename.read → HTuplestrHTupleHtuple (string) (string) (HString) (char*)
File name of the calibration plate description.
Default:
'calplate_320.cpd'
"calplate_320.cpd"
"calplate_320.cpd"
"calplate_320.cpd"
"calplate_320.cpd"
"calplate_320.cpd"
List of values:
'calplate_10mm.cpd'"calplate_10mm.cpd""calplate_10mm.cpd""calplate_10mm.cpd""calplate_10mm.cpd""calplate_10mm.cpd", 'calplate_1200mm.cpd'"calplate_1200mm.cpd""calplate_1200mm.cpd""calplate_1200mm.cpd""calplate_1200mm.cpd""calplate_1200mm.cpd", 'calplate_160mm.cpd'"calplate_160mm.cpd""calplate_160mm.cpd""calplate_160mm.cpd""calplate_160mm.cpd""calplate_160mm.cpd", 'calplate_20mm.cpd'"calplate_20mm.cpd""calplate_20mm.cpd""calplate_20mm.cpd""calplate_20mm.cpd""calplate_20mm.cpd", 'calplate_20mm_dark_on_light.cpd'"calplate_20mm_dark_on_light.cpd""calplate_20mm_dark_on_light.cpd""calplate_20mm_dark_on_light.cpd""calplate_20mm_dark_on_light.cpd""calplate_20mm_dark_on_light.cpd", 'calplate_320mm.cpd'"calplate_320mm.cpd""calplate_320mm.cpd""calplate_320mm.cpd""calplate_320mm.cpd""calplate_320mm.cpd", 'calplate_40mm.cpd'"calplate_40mm.cpd""calplate_40mm.cpd""calplate_40mm.cpd""calplate_40mm.cpd""calplate_40mm.cpd", 'calplate_40mm_dark_on_light.cpd'"calplate_40mm_dark_on_light.cpd""calplate_40mm_dark_on_light.cpd""calplate_40mm_dark_on_light.cpd""calplate_40mm_dark_on_light.cpd""calplate_40mm_dark_on_light.cpd", 'calplate_5mm.cpd'"calplate_5mm.cpd""calplate_5mm.cpd""calplate_5mm.cpd""calplate_5mm.cpd""calplate_5mm.cpd", 'calplate_640mm.cpd'"calplate_640mm.cpd""calplate_640mm.cpd""calplate_640mm.cpd""calplate_640mm.cpd""calplate_640mm.cpd", 'calplate_80mm.cpd'"calplate_80mm.cpd""calplate_80mm.cpd""calplate_80mm.cpd""calplate_80mm.cpd""calplate_80mm.cpd", 'calplate_80mm_dark_on_light.cpd'"calplate_80mm_dark_on_light.cpd""calplate_80mm_dark_on_light.cpd""calplate_80mm_dark_on_light.cpd""calplate_80mm_dark_on_light.cpd""calplate_80mm_dark_on_light.cpd", 'caltab_100mm.descr'"caltab_100mm.descr""caltab_100mm.descr""caltab_100mm.descr""caltab_100mm.descr""caltab_100mm.descr", 'caltab_10mm.descr'"caltab_10mm.descr""caltab_10mm.descr""caltab_10mm.descr""caltab_10mm.descr""caltab_10mm.descr", 'caltab_200mm.descr'"caltab_200mm.descr""caltab_200mm.descr""caltab_200mm.descr""caltab_200mm.descr""caltab_200mm.descr", 'caltab_2500um.descr'"caltab_2500um.descr""caltab_2500um.descr""caltab_2500um.descr""caltab_2500um.descr""caltab_2500um.descr", 'caltab_30mm.descr'"caltab_30mm.descr""caltab_30mm.descr""caltab_30mm.descr""caltab_30mm.descr""caltab_30mm.descr", 'caltab_650um.descr'"caltab_650um.descr""caltab_650um.descr""caltab_650um.descr""caltab_650um.descr""caltab_650um.descr", 'caltab_6mm.descr'"caltab_6mm.descr""caltab_6mm.descr""caltab_6mm.descr""caltab_6mm.descr""caltab_6mm.descr", 'caltab_800mm.descr'"caltab_800mm.descr""caltab_800mm.descr""caltab_800mm.descr""caltab_800mm.descr""caltab_800mm.descr", 'caltab_big.descr'"caltab_big.descr""caltab_big.descr""caltab_big.descr""caltab_big.descr""caltab_big.descr", 'caltab_small.descr'"caltab_small.descr""caltab_small.descr""caltab_small.descr""caltab_small.descr""caltab_small.descr"
File extension:
.cpd, .descr
CameraParamCameraParamCameraParamCameraParamcameraParamcamera_param (input_control) campar → HCamPar, HTupleSequence[Union[int, float, str]]HTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)
Internal camera parameters.
CalPlatePoseCalPlatePoseCalPlatePoseCalPlatePosecalPlatePosecal_plate_pose (input_control) pose → HPose, HTupleSequence[Union[int, float]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
External camera parameters (3D pose of the calibration
plate in camera coordinates).
Number of elements:
7
ScaleFacScaleFacScaleFacScaleFacscaleFacscale_fac (input_control) real → HTuplefloatHTupleHtuple (real) (double) (double) (double)
Scaling factor for the visualization.
Default:
1.0
Suggested values:
0.5, 1.0, 2.0, 3.0
Recommended increment:
0.05
Restriction:
0.0 < ScaleFac
例程 (HDevelop)
* Read image of calibration plate.
read_image (Image, 'calib/calib_single_camera_01')
get_image_size (Image, Width, Height)
* Create and setup the calibration model.
create_calib_data ('calibration_object', 1, 1, CalibDataID)
CalPlateDescr := 'calplate_80mm.cpd'
set_calib_data_calib_object (CalibDataID, 0, CalPlateDescr)
CamParam := ['area_scan_division', 0.008, -1500, 3.7e-6, 3.7e-6, \
640, 470, 1292, 964]
set_calib_data_cam_param (CalibDataID, 0, [], CamParam)
* Localize calibration plate in the image.
find_calib_object (Image, CalibDataID, 0, 0, 0, [], [])
get_calib_data_observ_pose (CalibDataID, 0, 0, 0, StartPose)
* Display calibration plate.
disp_caltab (WindowHandle, CalPlateDescr, CamParam, StartPose, 1)
结果
disp_caltabdisp_caltabDispCaltabDispCaltabDispCaltabdisp_caltab returns 2 (
H_MSG_TRUE)
if all parameter values are
correct. 如有必要，将引发异常。
可能的前置算子
camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration,
read_cam_parread_cam_parReadCamParReadCamParReadCamParread_cam_par,
read_poseread_poseReadPoseReadPoseReadPoseread_pose
参考其它
find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose,
camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration,
sim_caltabsim_caltabSimCaltabSimCaltabSimCaltabsim_caltab,
write_cam_parwrite_cam_parWriteCamParWriteCamParWriteCamParwrite_cam_par,
read_cam_parread_cam_parReadCamParReadCamParReadCamParread_cam_par,
create_posecreate_poseCreatePoseCreatePoseCreatePosecreate_pose,
write_posewrite_poseWritePoseWritePoseWritePosewrite_pose,
read_poseread_poseReadPoseReadPoseReadPoseread_pose,
project_3d_pointproject_3d_pointProject3dPointProject3dPointProject3dPointproject_3d_point,
get_line_of_sightget_line_of_sightGetLineOfSightGetLineOfSightGetLineOfSightget_line_of_sight
模块
Foundation